Selective high frequency mechanical actuation driven by the VO2 electronic instability

Micro- and nano-electromechanical resonators are a fundamental building block of modern technology, used in environmental monitoring, robotics, medical tools as well as fundamental science. These devices rely on dedicated electronics to generate their driving signal, resulting in an increased complexity and size. Here, we present a new paradigm to achieve high-frequency mechanical actuation based on the metal-insulator transition of VO$\mathrm{_2}$, where the steep variation of its electronic properties enables to realize high-frequency electrical oscillations. The dual nature of this phase change, which is both electronic and structural, turns the electrical oscillations into an intrinsic actuation mechanism, powered by a small DC voltage and capable to selectively excite the different mechanical modes of a microstructure. Our results pave the way towards the realization of micro- and nano-electro-mechanical systems with autonomous actuation from integrated DC power sources such as solar cells or micro-batteries.Comment: Main text: 6 pages, 4 figures Supplemental Material: 16 pages, 7 section

A 64mW DNN-based Visual Navigation Engine for Autonomous Nano-Drones

Fully-autonomous miniaturized robots (e.g., drones), with artificial intelligence (AI) based visual navigation capabilities are extremely challenging drivers of Internet-of-Things edge intelligence capabilities. Visual navigation based on AI approaches, such as deep neural networks (DNNs) are becoming pervasive for standard-size drones, but are considered out of reach for nanodrones with size of a few cm${}^\mathrm{2}$. In this work, we present the first (to the best of our knowledge) demonstration of a navigation engine for autonomous nano-drones capable of closed-loop end-to-end DNN-based visual navigation. To achieve this goal we developed a complete methodology for parallel execution of complex DNNs directly on-bard of resource-constrained milliwatt-scale nodes. Our system is based on GAP8, a novel parallel ultra-low-power computing platform, and a 27 g commercial, open-source CrazyFlie 2.0 nano-quadrotor. As part of our general methodology we discuss the software mapping techniques that enable the state-of-the-art deep convolutional neural network presented in [1] to be fully executed on-board within a strict 6 fps real-time constraint with no compromise in terms of flight results, while all processing is done with only 64 mW on average. Our navigation engine is flexible and can be used to span a wide performance range: at its peak performance corner it achieves 18 fps while still consuming on average just 3.5% of the power envelope of the deployed nano-aircraft.Comment: 15 pages, 13 figures, 5 tables, 2 listings, accepted for publication in the IEEE Internet of Things Journal (IEEE IOTJ

Navigation of mini swimmers in channel networks with magnetic fields

Controlled navigation of swimming micro robots inside fluid filled channels is necessary for applications in living tissues and vessels. Hydrodynamic behavior inside channels and interaction with channel walls need to be understood well for successful design and control of these surgical-tools-to-be. In this study, two different mechanisms are used for forward and lateral motion: rotation of helices in the direction of the helical axis leads to forward motion in the viscous fluid, and rolling due to wall traction results with the lateral motion near the wall. Experiments are conducted using a magnetic helical swimmer having 1.5 mm in length and 0.5 mm in diameter placed inside two different glycerol-filled channels with rectangular cross sections. The strength, direction and rotational frequency of the externally applied rotating magnetic field are used as inputs to control the position and direction of the micro swimmer in Y- and T-shaped channels

Force feedback pushing scheme for micromanipulation applications

Pushing micro-objects using point contact provides more flexibility and less complexity compared to pick and place operation. Due to the fact that in micro-world surface forces are much more dominant than inertial forces and these forces are distributed unevenly, pushing through the center of mass of the micro-object may not yield a pure translational motion. In order to translate a micro-object, the line of pushing should pass through the center of friction. In this paper, a semi-autonomous scheme based on hybrid vision/force feedback procedure is proposed to push micro-objects with human assistance using a custom built tele-micromanipulation setup to achieve translational motion. In the semi-autonomous pushing process, velocity controlled pushing with force feedback is realized along x-axis by the human operator while y-axis orientation is undertaken automatically using visual feedback. This way the desired line of pushing for the micro-object is controlled to pass through the varying center of friction. Experimental results are shown to prove nano-Newton range force sensing, scaled bilateral teleoperation with force feedback and snapshot of pushing operation

Scale-dependent fracture in gradient elastic materials

Micro-electromechanical systems (MEMS) and Nano-electromechanical systems (NEMS) have a wide range of applications in aerospace, power industry, automation & robotics, chemical & medical treatment analysis, information technology and in the infrastructure health monitoring equipments. To ensure the reliability of such small devices, the mechanical and hence fracture behaviour of their common building blocks such as beams, tubes, and plates should be carefully evaluated. However, on a smaller scale, the microstructural effects such as size effects, load-induced and geometrically prompted stress singularities are more noticeable, particularly at the micro/nano scale. Classical continuum elasticity theories are inadequate to accurately describe the situations controlled by the microstructure effects since the influence of these effects are not properly accounted for. On the other hand, the higher order gradient theories such as strain gradient theory may effectively describe the effects of microstructure through the solution of properly formulated boundary value problems. Moreover, when dealing with piezoelectric micro/nano materials, due to the presence of massive strain gradient, the electric field-strain gradient coupling (flexoelectricity) should also be considered. The objective of this research is to evaluate the scale-dependent fracture behaviour of gradient elastic materials using strain gradient theory. In particular, two most widely studied geometrical configurations i.e. double cantilever beam (DCB) and centrally cracked material layer are employed in this work. The findings presented in this thesis are expected to give useful insights to those working in the structural integrity analysis at the micro/nano scale. They are anticipated to help in the design of micro/nano structural components and serve as a benchmark for future theoretical and empirical studies

Semi-autonomous scheme for pushing micro-objects

-In many microassembly applications, it is often desirable to position and orient polygonal micro-objects lying on a planar surface. Pushing micro-objects using point contact provides more flexibility and less complexity compared to pick and place operation. Due to the fact that in micro-world surface forces are much more dominant than inertial forces and these forces are distributed unevenly, pushing through the center of mass of the micro-object will not yield a pure translational motion. In order to translate a micro-object, the line of pushing should pass through the center of friction. In this paper, a semi-autonomous scheme based on hybrid vision/force feedback is proposed to push microobjects with human assistance using a custom built telemicromanipulation setup to achieve pure translational motion. The pushing operation is divided into two concurrent processes: In one process human operator who acts as an impedance controller alters the velocity of the pusher while in contact with the micro-object through scaled bilateral teleoperation with force feedback. In the other process, the desired line of pushing for the micro-object is determined continuously using visual feedback procedures so that it always passes through the varying center of friction. Experimental results are demonstrated to prove nanoNewton range force sensing, scaled bilateral teleoperation with force feedback and pushing microobjects